Mechanical characteristics of the skin of human fingers were studied in order to design an artificial skin attatched to a manipulator. Load measured by a force sensor was obtained as a function of displacement of the skin by pressing the skin surface gradually at 2mm/sec using an acrylic rod with 2mm diameter. And then, relationship between the mechanical characteristics of the skin and sensation elicited by force stimulation to the finger was investigated based upon psychophysical experiments with respect to discrimination difference. From the experimental results related to mechanical characteristics of the skin, the stress was ascertained to increase exponentially in proportion to the displacement, and stress relaxation was observed after the rod was fixed at certain position. The discrimination difference of the stress sense was almost constant in the displacement range from 1mm to 4mm when a distal pad of an index finger was pressed. Sensation magnitude produced by force stimulation was estimated to be proportional to the displacement and to be logarithmically proportional to the stress. A guide to design for an artificial skin and a stress sensor was discussed from a point of view of a manipulator which had a similar function to the human finger.

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Micro-computer based real time measuring system for the shoulder complex motion and its EMG has been developed. Motional data is measured by magnetic positional sensor system(ISOTRAK). 8 channels electromyograph has been built up and EMGs are induced by disposable skin electrodes and stainless wire electrodes. Data are sampled in 200msec interval. Motional data during measurement are displayed on horizontal, sagittal and frontal planes. After measurement, the range of motion is calculated, and the motional and EMG data are combined and displayed. Measurement on 18 normal subjects was performed, and some findings were obtained.

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